Skip to main content
SpringerLink
Log in
Book cover

Humanoid Robotics: A Reference pp 215–264Cite as

Toyota Partner Robots

  • Reference work entry
  • First Online:

Abstract

With the desire to know the mechanism of human motion and to realize a robot close to human, we started studying humanoid robots in 2000 and have developed a wide variety of humanoids. In pursuit of the dexterity like human, the musical performance humanoids were developed that could play the trumpet, drum, violin, and the like. Based on the concept of novel mobility to transport a person on uneven ground and stairs by walking bipedally, the mountable humanoid named “i-foot” was created. Inspired from human body structure, the wire-driven humanoid was designed and constructed, which imitated the human musculoskeletal mechanism. The interest in the dynamic and refined human running motion motivated us to build the high motion performance humanoid that could achieve fast-running locomotion. Then, focusing on joint flexibility of human, we are currently working on the torque-controlled humanoid composed of the developed drive module using a high-sensitivity torque sensor. This chapter presents the details about these humanoid robots and takes a look back over the history of our robot development.

Part of section 5 is reprinted from [34] with permission of IEEE.

Part of section 6 is reprinted from [15] with permission of IEEE.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   899.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD   1,099.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. D. Chadefaux, J.-L. Le Carrou, M.-A. Vitrani, S. Billout, L. Quartier, Harp plucking robotic finger. In Proceedings of IEEE-RSJ International Conference on Intelligent Robotics and Systems, 2012, pp. 4886–4891

    Google Scholar 

  2. F. Forget, K.G. Esclasse, R. Gelin, N. Mansard, O. Stasse, Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots (2017, preprint)

    Google Scholar 

  3. E. Guglielmino, T. Sireteanu, C.W. Stammers, G. Gheorghe, M. Giuclea, Semi-active Suspension Control (Springer, London, 2008)

    Google Scholar 

  4. K. Hashimoto, Y. Sugahara, H.-O. Lim, A. Takanishi, Biped landing pattern modification method and walking experiments in outdoor environment. J. Robot. Mechatronics 20(5), 775–784 (2008)

    Google Scholar 

  5. G. Hirzinger, A. Albu-Schaffer, M. Hahnle, I. Schaefer, N. Sporer, On a new generation of torque controlled light-weight robots. In Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, 2001, pp. 3356–3363

    Google Scholar 

  6. S. Kagami, T. Kitagawa, K. Nishiwaki, T. Sugihara, M. Inaba, H. Inoue, A fast dynamically equilibrated walking trajectory generation method of humanoid robot. Auton. Robot. 12(1), 71–82 (2002)

    Google Scholar 

  7. S. Kajita, O. Matsumoto, M. Saigo, Real-time 3d walking pattern generation for a biped robot with telescopic legs. In Proceedings of the IEEE International Conference on Robotics and Automation, 2001, pp. 2299–2306

    Google Scholar 

  8. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoiand, H. Hirukawa, Resolved momentum control: humanoid motion planning based on the linear and angular momentum. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003, pp. 1644–1650

    Google Scholar 

  9. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point. In Proceedings of the IEEE International Conference on Robotics and Automation, 2003, pp. 1620–1626

    Google Scholar 

  10. S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi, K. Tanie, A running controller of humanoid biped HRP-2LR. In Proceedings of the IEEE International Conference on Robotics and Automation, 2005, pp. 618–624

    Google Scholar 

  11. S. Katsura, K. Ohnishi, Feedback of reaction force in haptics. In Proceedings of the IEEE International Conference on Industrial Technology, vol. 1, 2003, pp. TU13–TU20

    Google Scholar 

  12. T. Kawakami, K. Ayusawa, H. Kaminaga, Y. Nakamura, High-fidelity joint drive system by torque feedback control using high precision linear encoder. In Proceedings of IEEE International Conference on Robotics and Automation, 2010, pp. 3904–3909

    Google Scholar 

  13. J. Kim, J. Lee, J. Oh, Experimental realization of dynamic walking for a human-riding biped robot, hubo fx-1. Adv. Robot. 21(3), 461–484 (2007)

    Article  Google Scholar 

  14. J. Kim, H. Kwak, H. Lee, K. Seo, B. Lim, M. Lee, J. Lee, K. Roh, Balancing control of a biped robot. In Proceedings of the IEEE-RAS International Conference on Systems, Man, and Cybernetics, 2012, pp. 2756–2761

    Google Scholar 

  15. Y. Kuroki, Y. Kosaka, T. Takahashi, E. Niwa, H. Kaminaga, Y. Nakamura, Cr-n alloy thin-film based torque sensors and joint torque servo systems for compliant robot control. In Proceedings of the IEEE International Conference on Robotics and Automation, 2013, pp. 4954–4959

    Google Scholar 

  16. M. Mellody, G.H. Wakefield, A modal distribution study of violin vibrato. In International Computer Music Conference Proceedings, 1997

    Google Scholar 

  17. I. Mizuuchi, Y. Nakanishi, Y. Sodeyama, Y. Namiki, T. Nishino, N. Muramatsu, J. Urata, K. Hongo, T. Yoshikai, M. Inaba, An advanced musculoskeletal humanoid kojiro. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2007, pp. 294–299

    Google Scholar 

  18. M. Morisawa, K. Harada, S. Kajita, S. Nakaoka, K. Fujiwara, F. Kanehiro, K. Kaneko, H. Hirukawa, Experimentation of humanoid walking allowing immediate modification of foot place based on analytical solution. In Proceedings of the IEEE International Conference on Robotics and Automation, 2007, pp. 3989–3994

    Google Scholar 

  19. K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, J. Yamaguchi, Integrated motion control for walking, jumping and running on a small bipedal entertainment robot. In Proceedings of the IEEE International Conference on Robotics and Automation, 2004, pp. 3189–3194

    Google Scholar 

  20. T. Nagasaki, S. Kajita, K. Kaneko, K. Yokoi, K. Tanie, A running experiment of humanoid biped. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, pp. 136–141

    Google Scholar 

  21. K. Nagasaka, Y. Kawanami, S. Shimizu, T. Kito, T. Tsuboi, A. Miyamoto, T. Fukushima, H. Shimomura, Whole-body cooperative force control for a two-armed and two-wheeled mobile robot using generalized inverse dynamics and idealized joint units. In Proceedings of the IEEE International Conference on Robotics and Automation, 2010, pp. 3377–3383

    Google Scholar 

  22. Y. Nakamura, H. Hanafusa, T. Yoshikawa, Task priority based redundancy control of robot manipulators. Int. J. Robot. Res. 6(2), 3–15 (1987)

    Article  Google Scholar 

  23. K. Nishiwaki, S. Kagami, Walking control on uneven terrain with short cycle pattern generation. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2007

    Google Scholar 

  24. K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue, Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, pp. 2684–2689

    Google Scholar 

  25. E. Niwa, Y. Sasaki, Cr-n strain sensitive thin films and their pressure sensor applications. IEEJ Trans. Sens. Micromach. pp. 29–34 (2014) (in Japanese)

    Google Scholar 

  26. Numerical Recipes in C, 2nd edn. Cambridge University Press, England, 1992

    Google Scholar 

  27. K. Ohnishi, M. Shibata, T. Murakami, Motion control for advanced mechatronics. IEEE/ASME Trans. Mechatronics 1(1), 56–67 (1996)

    Article  Google Scholar 

  28. H. Park, B. Lee, D. Kim, Development of anthropomorphic robot finger for violin fingering. ETRI J. 38(6), 1218–1228 (2016)

    Article  Google Scholar 

  29. M.H. Raibert, Legged Robot that Balance (MIT Press, 1986)

    Google Scholar 

  30. K. Shibuya, Toward developing a violin playing robot: bowing by anthropomorphic robot arm and sound analysis. In Proceedings of the IEEE International Conference on Robot and Human Interactive Communication, 2007, pp. 763–768

    Google Scholar 

  31. J. Solis, K. Chida, K. Suefuji, A. Takanishi, The development of the anthropomorphic flutist robot at Waseda university. Int. J. Hum. Robot. 3(2), 127–151 (2006)

    Article  Google Scholar 

  32. Y. Sugahara, A. Ohta, K. Hashimoto, H. Sunazuka, M. Kawase, C. Tanaka, H. Lim, A. Takanishi, Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism. In Proceedings of IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2005, pp. 3425–3430

    Google Scholar 

  33. R. Tajima K. Suga, Motion having a flight phase: experiments involving a one-legged robot. In Proceedings of the IEEE-RSJ International Conference on Intelligent Robotics and Systems, 2006, pp. 1726–1731

    Google Scholar 

  34. R. Tajima, D. Honda, K. Suga, Fast running experiments involving a humanoid robot. In Proceedings of the IEEE International Conference on Robotics and Automation, 2009, pp. 1571–1576

    Google Scholar 

  35. S. Takashima, T. Miyawaki, Control of an automatic performance robot of saxophone: Performance control using standard midi files. In Proceedings of the IEEE IROS Workshop on Musical Performance Robots and Its Applications, 2006, pp. 30–35

    Google Scholar 

  36. K. Terada, Y. Kuniyoshi, Online gait planning with dynamical 3d-symmetrization method. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2007

    Google Scholar 

  37. T. Takenaka, T. Matsumoto, T. Yoshiike, S. Shirokura, Real time motion generation and control for biped robot -2nd report: Running gait pattern generation-, In Proceedings of the IEEE-RSJ International Conference on Intelligent Robotics and Systems, 2009, pp. 1092–1099

    Google Scholar 

  38. Toyota Motor Corporation, Legged robot and legged robot walking control method (2008)

    Google Scholar 

  39. N.G. Tsagarakis, G. Metta, G. Sandini, D. Vernon, R. Beira, F. Becchi, L. Righetti, J.S. Victor, A.J. Ijspeert, M.C. Carrozza, D.G. Caldwell, icub: the design and realization of an open humanoid platform for cognitive and neuroscience research. Adv. Robot. 21(10), 1151–1175 (2007)

    Article  Google Scholar 

  40. D. Tsetserukou, R. Tadakuma, H. Kajimoto, S. Tachi, Optical torque sensors for local impedance control realization of an anthropomorphic robot arm. Int. J. Robot. Mechatronics 18(2), 121–130 (2006)

    Article  Google Scholar 

  41. D. Vischer, O. Khatib, Design and development of high-performance torque-controlled joints. IEEE Trans. Robot. Autom. 11(4), 537–544 (1995)

    Article  Google Scholar 

  42. M. Vukobratovic, B. Borovac, Zero-moment point – thirty five years of its life. Int. J. Hum. Robot. 1, 157–173 (2004)

    Article  Google Scholar 

  43. Y. Wu, H. Nakamura, Y. Takeda, M. Higuchi, K. Sugimoto, Development of a power assist system of a walking chair based on human arm characteristics. J. Adv. Mech. Design Syst. Manuf. 1(1), 141–154 (2007)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Advanced Technology Engineering Department, Partner Robot Division, Toyota Motor Corporation, Toyota, Japan

    Masahiro Doi

  2. Planning & Administration Department, Partner Robot Division, Toyota Motor Corporation, Toyota, Japan

    Yuichiro Nakajima

Authors
  1. Masahiro Doi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yuichiro Nakajima
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Masahiro Doi .

Editor information

Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature B.V.

About this entry

Check for updates. Verify currency and authenticity via CrossMark

Cite this entry

Doi, M., Nakajima, Y. (2019). Toyota Partner Robots. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_18

Download citation

Publish with us

Policies and ethics

Search

Navigation